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Self-Understanding and Self-Extension: A Systems and Representational Approach
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
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2010 (English)In: IEEE T AUTON MENT DE, ISSN 1943-0604, Vol. 2, no 4, 282-303 p.Article in journal (Refereed) Published
Abstract [en]

There are many different approaches to building a system that can engage in autonomous mental development. In this paper, we present an approach based on what we term self-understanding, by which we mean the explicit representation of and reasoning about what a system does and does not know, and how that knowledge changes under action. We present an architecture and a set of representations used in two robot systems that exhibit a limited degree of autonomous mental development, which we term self-extension. The contributions include: representations of gaps and uncertainty for specific kinds of knowledge, and a goal management and planning system for setting and achieving learning goals.

Place, publisher, year, edition, pages
2010. Vol. 2, no 4, 282-303 p.
Keyword [en]
Architectures, representations, robot learning, robotics
National Category
Computer Vision and Robotics (Autonomous Systems)
URN: urn:nbn:se:kth:diva-41807DOI: 10.1109/TAMD.2010.2090149ISI: 000294902400003ScopusID: 2-s2.0-78650124256OAI: diva2:445119
QC 20111003Available from: 2011-10-03 Created: 2011-10-03 Last updated: 2011-10-03Bibliographically approved

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Aydemir, AlperJensfelt, PatricPronobis, AndrzejSjöö, Kristoffer
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